google-deepmind / google-deepmind/mujoco_mpc
a proposal on updating agent state info before mj_step in PhysicsLoop of app.cc
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Description
as following (line 359), what do you say about adding sim.agent->state.Set(m, d); before mj_step.
my reason is that , controller need instant state info to control robot, instant time info is good for interpolating right control info, or it will be failed in some hard scenarios.
i am not sure about this suggestion, because the performance does not improve yet.
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